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弹箭与制导学报 >

2025 , Vol. 45 >Issue 5: 742 - 750

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2025.05.018

学术文章

基于扭量的无退绕固定翼无人机位姿一体化有限时间控制

  • 周嘉星 , 1, 2 ,
  • 陈炜 , 1, 2, * ,
  • 高登巍 3 ,
  • 邓逸凡 4 ,
  • 李青 5 ,
  • 余子成 1, 2 ,
  • 邓钊 1, 2
展开
  • 1 厦门理工学院电气工程与自动化学院, 福建 厦门 361024
  • 2 厦门市高端电力装备及智能控制重点实验室, 福建 厦门 361024
  • 3 西安现代控制技术研究所, 陕西 西安 710065
  • 4 西安交通大学电子与信息学部, 陕西 西安 710075
  • 5 西北工业大学航天学院, 陕西 西安 710072
陈炜(2001—),男,硕士研究生,E-mail:

周嘉星(1989—),男,讲师,E-mail:

收稿日期: 2025-01-17

  网络出版日期: 2025-11-28

基金资助

福建省自然科学基金资助(2022J05286)

厦门市科技计划资助项目(3502Z20227072)

国家自然科学基金资助(52305117)

厦门理工学院高层次人才科研启动资助项目(YKJ22019R)

厦门理工学院高层次人才科研启动资助项目(YKJ24018R)

教育部产学合作协同育人项目(231102532155002)

收起

Anti-Unwinding Fixed-Wing UAV Finite-Time Integrated Pose Control Based on Twistor

  • ZHOU Jiaxing , 1, 2 ,
  • CHEN Wei , 1, 2, * ,
  • GAO Dengwei 3 ,
  • DENG Yifan 4 ,
  • LI Qing 5 ,
  • YU Zicheng 1, 2 ,
  • DENG Zhao 1, 2
Expand
  • 1 School of Electrical Engineering and Automation, Xiamen University of Technology, Xiamen 361024, Fujian, China
  • 2 Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control, Xiamen 361024, Fujian, China
  • 3 Xi’an Modern Control Technology Research Institute, Xi’an 710065,Shanxi, China
  • 4 Faculty of Electronic and Information Engineering, Xi’an Jiaotong University, Xi’an 710075,Shanxi, China
  • 5 School of Astronautics, Northwestern Polytechnical University, Xi’an 710072,Shanxi, China

Received date: 2025-01-17

  Online published: 2025-11-28

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摘要

固定翼无人机的动力学建模通常将位置与姿态分开描述,导致求解复杂且控制迟滞。为解决这一问题,学者们提出了位姿统一建模方法。对偶四元数是常用的位姿一体化建模方法,但其姿态描述采用四元数,在姿态角过大时会产生退绕现象,导致不必要的能量消耗和控制复杂性增加。为避免退绕,本文将修正罗德里格斯参数扩展到对偶代数体系,提出了位姿扭量描述方法,具有无退绕、无参数冗余的优点。为了提高固定翼无人机位姿跟踪控制器的收敛速度,本文设计了基于扭量的有限时间滑模控制器(Finite-Time Sliding Mode Controller,FTSMC)。通过Lyapunov有限时间稳定判据和LaSalle不变集原理,证明了控制器能在有限时间内收敛。最后,利用Links-RT半实物仿真平台验证了基于扭量的建模方法无退绕现象,且FTSMC具有良好的控制性能。

关键词： 无退绕; 扭量; 固定翼无人机; 对偶四元数

本文引用格式

周嘉星 , 陈炜 , 高登巍 , 邓逸凡 , 李青 , 余子成 , 邓钊 . 基于扭量的无退绕固定翼无人机位姿一体化有限时间控制[J]. 弹箭与制导学报, 2025 , 45(5) : 742 -750 . DOI: 10.15892/j.cnki.djzdxb.2025.05.018

Abstract

The dynamic modeling of fixed-wing unmanned aerial vehicles (UAVs) typically separates the descriptions of position and attitude,leading to complex solving processes and control delays.To address this issue,researchers have proposed unified pose modeling methods.Dual quaternions are commonly used for pose-integrated modeling; however,their attitude description relies on quaternions,which can cause unwinding phenomena when the attitude angles are large,resulting in unnecessary energy consumption and increased control complexity.To avoid unwinding,this paper extends the modified Rodrigues parameters to the dual algebra framework,proposing a twistor description method that offers the advantages of being free from unwinding and parameter redundancy.To improve the convergence speed of the pose-tracking controller for fixed-wing UAVs,a FTSMC based on the pose twistor method is designed.Using the Lyapunov finite-time stability criterion and LaSalle’s invariance principle,it is proven that the controller can achieve convergence within a finite time.Finally,the Links-RT hardware-in-the-loop simulation platform is utilized to verify that the twistor-based modeling method eliminates unwinding phenomena and that the FTSMC exhibits excellent control performance.

Key words： anti-unwinding; twistor; fixed-wing UAV; dual quaternion

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